Measurement-Based Modeling of Contact Forces and Textures for Haptic Rendering

Abstract

Haptics is a topic which, in recent years, has gained significant attention from several research fields, including computer graphics, robotics, human-computer interfaces, and virtual environments. Through the use of computer controlled forces, a user is given tactile and kinesthetic cues about the underlying application. These cues enhance the overall quality of the application, or possibly add a new dimension, by allowing the user to experience first-hand some previously unavailable phenomena (e.g., hardness, softness, mass, inertia). In this thesis, we introduce an interactive and mobile system for the acquisition and synthesis of haptic textures, which includes the surface profile and compliance. Texture represents the attributes at the surface of an object and is related to physical characteristics such as roughness and friction. By texturing objects in a 3D virtual application, the realism of the simulation is greatly increased. Our system is cost effective, simple, and adaptable to a number of workspace environments. We demonstrate how surface features may be acquired by scanning an object using a hand-held touch probe. Sensor data is processed and used to generate haptic textures of sufficient quality to allow for haptic rendering. We also introduce a method to assign 2D texture coordinates based on registration of scanning trajectory with 3D geometry.